cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)


# Examples of calling FK and IK services
rosbuild_add_executable(get_fk src/get_fk.cpp)
rosbuild_add_executable(get_ik src/get_ik.cpp)

# Example kinematics services
rosbuild_add_executable(arm_kinematics_nr           src/solvers/arm_kinematics_nr.cpp)
rosbuild_add_executable(arm_kinematics_nr_jl        src/solvers/arm_kinematics_nr_jl.cpp)
rosbuild_add_executable(arm_kinematics_nr_jl_search src/solvers/arm_kinematics_nr_jl_search.cpp)

# IKFast Demo
rosbuild_add_executable(compute src/ikfastdemo/ikfastdemo.cpp)
target_link_libraries(compute stdc++ lapack rt)

